When a collision in traffic becomes imminent, fast electronics may be required to combine data or images from two different technologies. Determining a position or speed or acceleration of a second vehicle may require integration of data from different technologies, leading to delays unless the analyzing is performed by high-speed electronics. In addition, calculating and selecting an effective collision mitigation must be performed rapidly, due to the brief time interval typically between discovering the imminent collision and the time of first contact. For these reasons, among many others, the avoidance or harm minimization actions require speed and precision beyond the capabilities of a human driver of ordinary skill, and necessarily require high-speed electronics, such as a digital processor, for success. In many collision scenarios, relying on the human driver to calculate a sequence of actions, select the best one, and implement it before the impact, while also driving, is unrealistic.

A subject vehicle in traffic can detect a second vehicle using sensors that measure motions of the second vehicle, and thereby determine one or more future trajectories of the second vehicle, and thereby determine whether a collision between the subject and second vehicles is imminent. The subject vehicle can calculate one or more sequences of actions, each action comprising an acceleration, a deceleration, and/or a steering action of the subject vehicle. The subject vehicle can also calculate whether any of the one or more sequences of actions can avoid the imminent collision, and also calculate an expected harm of the imminent collision according to each of the one or more sequences of actions. The subject vehicle can then autonomously select and implement a particular sequence of actions that is calculated to avoid the imminent collision or to minimize the harm of the imminent collision.

Disclosed is a driver assistance system including a first processor that receives a radar signal from a radar and detects one or more first objects based on the radar signal, a second processor that receives a camera signal from a camera and detects one or more second objects based on the camera signal, a laser controller that controls a beam generator to radiate the laser beam, a segmentation unit that extracts one or more first segments and one or more second segments corresponding to the one or more second objects, a mapping unit that maps at least one of the first segments and at least one of the second segments, a classification unit that classifies a target object based on an image signal and determines a possibility of collision with the target object, and a vehicle controller that controls a vehicle drive device based on the possibility of collision.